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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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hard landing in uzh fpv dataset(indoor_forward_3) #302

Closed ryanESX closed 1 year ago

ryanESX commented 1 year ago

I tried to test indoor_forward_3 uzh fpv dataset. I found this dataset has hard landing in the end of bag file cause odometry divergence. Does it has anyway to resolve this problem?

goldbattle commented 1 year ago

I couldn't solve this besides stopping the bag early. I think the IMU readings saturate at that point.

On Sun, Jan 22, 2023 at 12:25 PM ryanESX @.***> wrote:

I tried to test indoor_forward_3 uzh fpv dataset. I found this dataset has hard landing in the end of bag file cause odometry divergence. Does it has anyway to resolve this problem?

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ryanESX commented 1 year ago

The saturation of IMU. Do you mean it exceed the maximum of acceleration in IMU? For example, I set the max acceleration of the IMU in +-4g. But the hard landing make it 10g or any number exceed +-4g.

goldbattle commented 1 year ago

Yes, or that the higher accelerations are less sensitive. I have not looked into this problem / dataset directly, so take my thoughts with a grain of salt.

On Sun, Jan 22, 2023 at 12:55 PM ryanESX @.***> wrote:

The saturation of IMU. Do you mean it exceed the maximum of acceleration in IMU? For example, I set the max acceleration of the IMU in +-4g. But the hard landing make it 10g or any number exceed +-4g.

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ryanESX commented 1 year ago

Okay, I got it. I will keep looking another datasets. I noticed uzh fpv dataset use Qualcomm Snapdrgon Flight. Their on-board IMU is commercial level. Euroc/RPGN dataset has better IMU(ADIS16448). Maybe it is another possible factor.